Gripper apparatus for vehicle

Abstract

In a gripper apparatus for a vehicle, an item of a wheelchair loaded into an internal space of a vehicle may be fixed by a fixing structure of the gripper module using magnetic forces generated by a stationary magnet and a rotary magnet so that a wheelchair user may fix the wheelchair without the assistance of another person.

What is claimed is: 
     
         1 . A gripper apparatus for a vehicle, the gripper apparatus comprising:
 a gripper module positioned in an internal space of the vehicle into which an item is loaded, the gripper module being configured to fix the item loaded into the internal space; and   a link module connected to the gripper module and configured to rectilinearly move the gripper module while rotating.   
     
     
         2 . The gripper apparatus of  claim 1 , wherein the item, which is loaded into the internal space of the vehicle and gripped by the gripper module, is a frame which is made of magnetic material and forms a wheelchair. 
     
     
         3 . The gripper apparatus of  claim 1 , further including:
 a guide module provided to connect the gripper module, the link module, and a vehicle body and configured to guide the rectilinear movement of the gripper module in response that the link module operates.   
     
     
         4 . The gripper apparatus of  claim 1 , further including:
 a power module connecting the link module and a vehicle body and configured to generate power for rotating the link module.   
     
     
         5 . The gripper apparatus of  claim 1 , wherein the gripper module includes:
 upper and lower pawls spaced from each other in an upward and downward direction;   left and right side brackets coupling the upper and lower pawls;   an upper pawl extension portion pivotally coupled to an end portion of the upper pawl by an upper hinge and configured to be rotatable upward or downward;   a lower pawl extension portion pivotally coupled to an end portion of the lower pawl by a lower hinge and configured to be rotatable upward or downward;   a stationary magnet fixed by the upper and lower pawls and including an S-pole and an N-pole that are not changed in position; and   a rotary magnet rotatably mounted at one side of the stationary magnet and including an S-pole and an N-pole that vary in position in response that the rotary magnet rotates.   
     
     
         6 . The gripper apparatus of  claim 5 , wherein the gripper module further includes:
 an upper holder coupled to an end portion of the upper pawl extension portion; and   a lower holder coupled to an end portion of the lower pawl extension portion, and   wherein the upper and lower holders prevent withdrawal of the item inserted into a space formed between the upper pawl extension portion and the lower pawl extension portion in response that the upper pawl extension portion and the lower pawl extension portion are in a closed state.   
     
     
         7 . The gripper apparatus of  claim 6 , wherein the upper pawl, the upper pawl extension portion, the lower pawl, and the lower pawl extension portion are each made of a magnetic material configured for transmitting magnetic forces generated by the stationary magnet and the rotary magnet, and the left and right side brackets, the upper holder, the lower holder, the upper hinge, the lower hinge, a center hinge are each made of a non-magnetic material incapable of transmitting a magnetic force. 
     
     
         8 . The gripper apparatus of  claim 7 , wherein the center hinge includes first and second opposite end portions coupled to flanges of the left and right side brackets. 
     
     
         9 . The gripper apparatus of  claim 5 , wherein the gripper module further includes:
 a center hinge including first and second opposite end portions coupled to flanges of the left and right side brackets; and   at least a hinge spring mounted on the center hinge and including first and second opposite end portions supported on the upper pawl extension portion and the lower pawl extension portion, the at least a hinge spring being configured to provide spring forces to the upper pawl extension portion and the lower pawl extension portion so that the upper pawl extension portion and the lower pawl extension portion rotate in opening directions.   
     
     
         10 . The gripper apparatus of  claim 6 , wherein the gripper module further includes a gripper motor fixed on one of the left and right side brackets and provided with a motor shaft including an end portion to which the rotary magnet is coupled. 
     
     
         11 . The gripper apparatus of  claim 10 , wherein the gripper module further includes:
 a proximity sensor fixed to a sensor bracket connected to the side bracket, the proximity sensor being configured to detect the item that approaches the gripper module; and   a controller operatively connected to the proximity sensor and configured to control an operation of the gripper motor by use of a signal of the proximity sensor.   
     
     
         12 . The gripper apparatus of  claim 9 , wherein in response that the gripper module is in a releasing state, the item is positioned outside the gripper module, while an S-pole and an N-pole of the stationary magnet, respectively face an N-pole and an S-pole of the rotary magnet so that a flow of magnetic force is formed only between the stationary magnet and the rotary magnet, and the upper pawl extension portion and the lower pawl extension portion are moved outward away from each other by spring forces of the at least a hinge spring so that the gripper module is maintained in an open state. 
     
     
         13 . The gripper apparatus of  claim 11 , wherein the item gripped by the gripper module is configured by a magnetic material made of steel, and
 wherein in response that the item is introduced into the space between the upper pawl extension portion and the lower pawl extension portion, the gripper motor operates by being controlled by the controller that receives a signal of the proximity sensor, an S-pole and an N-pole of the stationary magnet, respectively face an S-pole and an N-pole of the rotary magnet by operation of the gripper motor, and a flow of magnetic force expands to a route that passes through the stationary magnet, the rotary magnet, the upper pawl extension portion, the lower pawl extension portion, and the item so that the upper pawl extension portion and the lower pawl extension portion rotate in a direction in which the upper pawl extension portion and the lower pawl extension portion are closed so that the upper pawl extension portion and the lower pawl extension portion are in a closed state so that in response that the upper pawl extension portion and the lower pawl extension portion are in the closed state, the gripper module is in a gripping state, and the item is fixed by the closed upper and lower pawl extension portions in response that the gripper module is in the gripping state so that the upper and lower holders prevent the item from being withdrawn to the outside thereof.   
     
     
         14 . The gripper apparatus of  claim 4 , wherein the guide module includes:
 a stationary rail provided in the internal space into which the item is loaded, the stationary rail being fixed to a bottom portion of the vehicle body and extending forward and rearward thereof;   a movable rail coupled to the stationary rail and configured to move along the stationary rail; and   a guide bar coupled to the movable rail and connected to the gripper module and the link module.   
     
     
         15 . The gripper apparatus of  claim 14 , wherein the guide module further includes a guide shaft provided between the stationary rail and the movable rail and configured to support a movement of the movable rail and minimize a clearance between the stationary rail and the movable rail. 
     
     
         16 . The gripper apparatus of  claim 14 , wherein the power module includes:
 a base bracket fixed to the vehicle body in the internal space into which the item is loaded;   a drive motor fixed to the base bracket;   a driving gear connected to the drive motor and rotatably coupled to the base bracket; and   a plurality of driven gears engaged to the driving gear and the link module and configured to transmit a rotation force.   
     
     
         17 . The gripper apparatus of  claim 16 , wherein the link module includes:
 first links each including a first end portion coupled to the driven gears; and   second links each including one end portion rotatably coupled to the guide bar,   wherein a second end portion of the first links and an end portion of the second links are rotatably coupled to each other.   
     
     
         18 . The gripper apparatus of  claim 17 ,
 wherein the first links are provided as two first links, the second links are provided as two second links, and the two first links and the two second links are provided to be vertically symmetric, and   wherein in response that the first and second links are rotated by operation of the drive motor, the guide bar and the gripper modules rectilinearly move in a direction toward the base bracket and the opposite direction as the movable rail moves along the stationary rail.